相关论文: ZS6D: Zero-shot 6D Object Pose Estimation using Vi…

We propose a novel method for joint estimation of shape and pose of rigid objects from their sequentially observed RGB-D images. In sharp contrast to past approaches that rely on complex non-linear optimization, we propose to formulate it…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

Accurate 6D pose estimation has gained more attention over the years for robotics-assisted tasks that require precise interaction with physical objects. This paper presents an interactive 3D-to-2D visualization and annotation tool to…

6D pose estimation is crucial for augmented reality, virtual reality, robotic manipulation and visual navigation. However, the problem is challenging due to the variety of objects in the real world. They have varying 3D shape and their…

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold.…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

Determining the relative pose of a previously unseen object between two images is pivotal to the success of generalizable object pose estimation. Existing approaches typically predict 3D translation utilizing the ground-truth object…

Most recent 6D pose estimation frameworks first rely on a deep network to establish correspondences between 3D object keypoints and 2D image locations and then use a variant of a RANSAC-based Perspective-n-Point (PnP) algorithm. This…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

We introduce the new setting of open-vocabulary object 6D pose estimation, in which a textual prompt is used to specify the object of interest. In contrast to existing approaches, in our setting (i) the object of interest is specified…

In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Predicting the object's 6D pose from a single RGB image is a fundamental computer vision task. Generally, the distance between transformed object vertices is employed as an objective function for pose estimation methods. However, projective…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique…

With the explosive 3D data growth, the urgency of utilizing zero-shot learning to facilitate data labeling becomes evident. Recently, methods transferring language or language-image pre-training models like Contrastive Language-Image…

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…